Multi-aircraft cooperative detection strategy based on formation

A filter algorithm combining Interactive Multiple Model (IMM) algorithm with adaptive transition probability and Unscented Kalman Filter (UKF) is proposed for the issue of state estimation of highly maneuvering targets with unknown motions. The centralized fusion structure is adopted to process measurements of multi-aircraft to improve the accuracy of target state estimation. The cooperative detection strategy based on formation is studied from two aspects of the aircrafts number and configuration radius, and conclusions are drawn through simulation: In general, the more the number of aircrafts, the better the detection effect; when the configuration radius is 250km and 100km, the better cooperative detection effect can be obtained; considering the cost issue, 4 aircrafts can be selected for cooperative detection in a rectangular formation with a half diagonal of 100km.